CN115026843B - Automatic TCP calibration and deviation correction method based on cross laser sensor - Google Patents

Automatic TCP calibration and deviation correction method based on cross laser sensor Download PDF

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CN115026843B
CN115026843B CN202210962682.9A CN202210962682A CN115026843B CN 115026843 B CN115026843 B CN 115026843B CN 202210962682 A CN202210962682 A CN 202210962682A CN 115026843 B CN115026843 B CN 115026843B
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point
laser
laser sensor
moment
tail end
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CN115026843A (en
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林耿聪
肖曙红
张建华
何文浩
卢浩文
王星航
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Foshan Institute Of Intelligent Equipment Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention relates to the field of calibration and deviation correction of robots, and discloses an automatic TCP calibration and deviation correction method based on a cross laser sensor, which comprises an automatic calibration method of TCP and a TCP deviation correction method based on the method.

Description

Automatic TCP calibration and deviation correction method based on cross laser sensor
Technical Field
The invention relates to the field of robot calibration and deviation correction, in particular to an automatic TCP calibration and deviation correction method based on a cross laser sensor.
Background
Along with the transformation and upgrading of manufacturing enterprises, more and more industrial robot technologies are applied to the fields of polishing, spraying, deburring, welding and the like. When the robot completes the tasks, various robot end tools need to be installed, and coordinates of a Center Point (TCP) of the end Tool need to be effectively marked, so that the robot can be used for completing the high-precision working requirements.
The calibration algorithm of the robot tool coordinate system is commonly used in the traditional four-point calibration, six-point calibration and the like, and the principle of the calibration algorithm is to transform different poses and control the robot to reach the same sharp point in a motion space and solve a TCP point by using a least square method; but each fixed point is reached due to the error of manually teaching the operation point
Figure DEST_PATH_IMAGE001
All can not be completely equalThe method has the advantages that large position deviation exists, and ideal precision is difficult to calibrate, so that the traditional four-point TCP calibration algorithm has the problems of insufficient stability, low calibration efficiency and low precision. Chinese patent application No. CN201610849202.2 discloses an industrial robot TCP calibration method, which uses a preferred algorithm for calibration, although a certain calibration accuracy is improved, the manual peer-to-peer operation is still required, the calibration efficiency is not high, and the operation time is long. The Chinese invention patent with the patent application number of CN201811207015.X discloses a method and a device for realizing online rapid calibration of six-degree-of-freedom TCP, which realize the six-degree-of-freedom deviation correction, but the positions of TCP points and laser intersection points need to be manually calibrated and manually taught firstly, and the manual operation error factors are increased, so that the calibration and deviation correction precision is reduced. The automatic calibration of the coordinate system of the robot tool written by liu and published in journal of optical precision engineering-2019.3 can realize the quick calibration of the coordinate system of the tool, but the sensor is provided with strict limitation, the coordinate system of the sensor needs to be calibrated first, and the calibration precision is limited by the coordinate system of the sensor. If the camera is used for visual calibration or laser tracker calibration, the calibration precision is high, but the calibration equipment is expensive and the cost is too high.
In addition, when the center point of the tool at the tail end of the robot changes, the tool needs to be calibrated by using the traditional manual teaching calibration method again, so that the calibration time is increased, the shutdown working time of the robot is prolonged, and the production efficiency is reduced.
Disclosure of Invention
The invention aims to solve the problems and provides an automatic TCP calibration and deviation correction method based on a cross laser sensor, which solves the problems of low production efficiency of a production line and time and labor waste and deviation correction caused by large error, low precision and much time consumption due to manual operation in the conventional TCP calibration process.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic TCP calibration method based on a cross laser sensor comprises the following steps:
s1: moving a tail end tool of the robot to the position above the cross laser sensor, randomly selecting five initial postures of the tail end tool, manually teaching the five selected initial postures, planning tracks of the five selected initial postures, selecting one initial posture of the five initial postures, and controlling the tail end tool to move along the planned track after entering the cross laser sensor in the selected initial posture;
s2: the cross laser sensor records signal pulses at each moment of laser on-off, the recorded signal pulses are communicated to the demonstrator through the control cabinet, the demonstrator records and marks point location coordinates of the center of the end flange at each moment of laser on-off according to the received signal pulses, and point location coordinates of the center of the end flange when the end tool of the robot passes through a laser intersection point in the cross laser sensor are calculated through the recorded point location coordinates at the moment of laser on-off
Figure DEST_PATH_IMAGE002
；
S3: after the terminal tool is controlled to move downwards for a preset distance, the terminal tool moves with the same initial posture and the same track as those in the step S2, the cross laser sensor records signal pulses at each moment of laser on-off, the recorded signal pulses are communicated to the demonstrator through the control cabinet, the demonstrator records and marks point location coordinates of the center of the terminal flange at each moment of laser on-off according to the received signal pulses, and the point location coordinates of the center of the terminal flange when the terminal tool of the robot passes through a laser intersection point in the cross laser sensor are calculated through the recorded point location coordinates of the laser on-off moment
Figure DEST_PATH_IMAGE003
From the central point of the end flange to the coordinates
Figure DEST_PATH_IMAGE004
Move to
Figure DEST_PATH_IMAGE005
The direction of (a) is set as a vector direction Z;
s4: calculating the distance in the vector direction Z
Figure DEST_PATH_IMAGE006
The coordinate of the point P is returned to the demonstrator, the demonstrator controls the terminal flange to move to the point P in the selected initial posture and to move to the point P from the point P along the vector direction Z at a constant speed
Figure DEST_PATH_IMAGE007
The cross laser sensor records the sharp point of the end tool in the movement process of the end flange, so that the laser is blocked to cut off the instantaneous signal pulse, the recorded signal pulse is communicated to the demonstrator through the control cabinet, and the demonstrator records and marks the point position coordinate of the center of the end flange at the moment of laser cutting off according to the received signal pulse
Figure DEST_PATH_IMAGE008
And recording the attitude of the center of the end flange at the moment of laser interruption
Figure DEST_PATH_IMAGE009
；
S5: controlling the robot to return to the initial posture before entering the cross laser sensor, respectively switching the remaining four initial postures to enter the cross laser sensor to move along the planned track, and repeating the operations of the steps S2-S4 for each initial posture to respectively obtain the point position coordinate of the center of the end flange at the moment of laser disconnection
Figure DEST_PATH_IMAGE010
，
Figure DEST_PATH_IMAGE011
，
Figure DEST_PATH_IMAGE012
，
Figure DEST_PATH_IMAGE013
Attitude of center of end flange at moment of laser disconnection
Figure DEST_PATH_IMAGE014
，
Figure DEST_PATH_IMAGE015
，
Figure DEST_PATH_IMAGE016
，
Figure DEST_PATH_IMAGE017
；
S6: the point location coordinates of the laser disconnection instant obtained in the steps S4 and S5
Figure DEST_PATH_IMAGE019
、
Figure DEST_PATH_IMAGE020
、
Figure DEST_PATH_IMAGE021
、
Figure DEST_PATH_IMAGE022
And
Figure DEST_PATH_IMAGE023
instantaneous attitude of laser disconnection
Figure 2316DEST_PATH_IMAGE009
、
Figure 450615DEST_PATH_IMAGE014
、
Figure 636876DEST_PATH_IMAGE015
、
Figure DEST_PATH_IMAGE024
And
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calculating and obtaining machine by adopting optimal algorithmHuman end tool center point
Figure DEST_PATH_IMAGE026
Coordinate point of intersection point of laser and cross laser sensor
Figure DEST_PATH_IMAGE027
。
Preferably, the track in the step S2 is a circular track, the movement along the planned track is a circle along the circular track, four groups of instantaneous point location coordinates of laser on-off can appear in the process that the tail end tool moves a circle along the circular track, eight instantaneous point location coordinates of laser on-off are obtained, and the center point location coordinates of the tail end flange when the tail end tool of the robot passes through the laser intersection point in the cross laser sensor are obtained through calculation of the obtained eight instantaneous point location coordinates of laser on-off
Figure DEST_PATH_IMAGE028
。
Preferably, in step S3, four sets of point location coordinates at the instant of laser on-off may appear during the process that the end tool moves for one circle along the circular track, and point location coordinates at the instant of eight laser on-off may be obtained, and the point location coordinates of the center of the end flange when the end tool of the robot passes through the intersection point of the lasers in the intersecting laser sensor are obtained through calculation of the obtained point location coordinates at the instant of eight laser on-off
Figure DEST_PATH_IMAGE029
。
Preferably, the coordinates of the central point of the end flange are used in the step S4
Figure DEST_PATH_IMAGE030
、
Figure DEST_PATH_IMAGE031
Unit vector of sum vector direction Z
Figure DEST_PATH_IMAGE032
Can calculate the distance
Figure DEST_PATH_IMAGE033
The coordinate point P of (a).
Preferably, the preferred algorithm is a five-point preferred algorithm.
An automatic TCP deviation rectifying method based on a cross laser sensor comprises the following steps:
the deviation correcting method is based on the laser intersection point obtained after TCP calibration
Figure DEST_PATH_IMAGE034
Compared with the traditional deviation rectifying method, the method does not need to manually determine the coordinate system of the crossed laser sensor.
A1: after the collision of the tail end tool occurs, manually teaching the tail end tool, enabling the tail end tool with the offset central point to be initially vertical to an XOY plane of the robot, defining the posture of the tail end tool after manual teaching as a fixed posture, and moving the tail end tool to the position above the cross laser sensor in the fixed posture;
a2: controlling the offset tail end tool to enter the cross laser sensor for posture correction operation at the fixed posture in the step A1;
a3: and C, controlling the tail end tool subjected to posture correction in the step A2 to enter the cross laser sensor again for position correction, and finishing the correction operation of the tail end tool.
Wherein, step A2 includes the following steps:
a21, after the end tool enters the cross laser sensor in a fixed posture, the cross laser sensor moves for one circle along a planned circular track, the cross laser sensor records signal pulses at each laser on-off moment, the recorded signal pulses are communicated to the demonstrator through the control cabinet, the demonstrator records and marks point position coordinates of the center of the end flange at each laser on-off moment according to the received signal pulses, and the point position coordinates of the center of the end flange when the end tool of the robot passes through a laser intersection point in the cross laser sensor are calculated through the recorded point position coordinates of the laser on-off moment
Figure DEST_PATH_IMAGE035
；
A22, after the tail end tool is controlled to move downwards for a preset distance in a fixed posture, the operation of the step A21 is repeated, and the point location coordinate of the center point of the tail end flange when the tail end tool of the robot passes through the intersection point of the lasers in the cross laser sensor is calculated according to the recorded point location coordinate at the moment when the lasers are switched on and off
Figure DEST_PATH_IMAGE036
Is set by
Figure DEST_PATH_IMAGE037
Move to
Figure DEST_PATH_IMAGE038
Is a vector direction
Figure DEST_PATH_IMAGE039
；
A23: according to the position of the end flange
Figure DEST_PATH_IMAGE040
、
Figure DEST_PATH_IMAGE041
And the vector direction
Figure 905789DEST_PATH_IMAGE039
Unit vector of
Figure DEST_PATH_IMAGE042
Capable of calculating deviation angle of end tool of robot
Figure DEST_PATH_IMAGE043
And
Figure DEST_PATH_IMAGE044
thereby finishing the posture correction operation;
wherein, step A3 includes the following steps:
a31: controlling the tail end tool of the robot to enter the cross laser sensor again in the corrected posture, and repeating the stepsThe operation method of the step A21-A22 is that the point position coordinates of the centers of the two end flanges are respectively calculated by recording the point position coordinates at the moment of laser on-off
Figure DEST_PATH_IMAGE045
And
Figure DEST_PATH_IMAGE046
is set by
Figure DEST_PATH_IMAGE047
Move to
Figure DEST_PATH_IMAGE048
Is a vector direction
Figure DEST_PATH_IMAGE049
；
A32: in the vector direction
Figure 2052DEST_PATH_IMAGE049
Get away from by upper calculation
Figure DEST_PATH_IMAGE050
Coordinate point of (2)
Figure DEST_PATH_IMAGE051
Will click
Figure 417990DEST_PATH_IMAGE051
The coordinate position of the terminal flange is returned to the demonstrator, and the demonstrator controls the terminal flange to move to a point
Figure 216181DEST_PATH_IMAGE051
And controlling the tail end flange to move from the point with the corrected posture
Figure 572339DEST_PATH_IMAGE051
Starting along the vector direction
Figure 772376DEST_PATH_IMAGE049
Move to a point at a uniform speed
Figure 172264DEST_PATH_IMAGE047
The cross laser sensor records the sharp point of the tail end tool in the movement process of the tail end flange, so that the laser is blocked to disconnect the instantaneous signal pulse, the recorded signal pulse is communicated to the demonstrator through the control cabinet, and the demonstrator records and marks the point position coordinate of the center of the tail end flange at the moment of laser disconnection according to the received signal pulse
Figure DEST_PATH_IMAGE052
And recording the attitude of the center of the end flange at the moment of laser interruption
Figure DEST_PATH_IMAGE053
；
A33: according to the point location coordinate at the moment of laser disconnection
Figure DEST_PATH_IMAGE054
Coordinate point of intersection point of laser and cross laser sensor
Figure DEST_PATH_IMAGE055
Calculating to obtain the central point of the end tool of the robot
Figure DEST_PATH_IMAGE056
And finishing the position deviation rectifying operation.
The contribution of the invention lies in: the invention provides an automatic TCP calibration method based on a cross laser sensor, which uses the cross laser sensor to replace manual teaching point alignment operation, realizes automatic point alignment calibration, reduces errors caused by manual operation and point alignment time of manual operation, improves the calibration precision, can perform quick TCP deviation correction operation on a tail end tool of a robot under the condition that the position of a robot sensor is unchanged, reduces the downtime, recovers production line production with the minimum downtime, greatly reduces the calibration time and cost, and improves the TCP calibration precision.
Drawings
FIG. 1 is a flow chart of an automatic TCP calibration method based on a cross laser sensor according to the present invention;
FIG. 2 is a flow chart of an automatic TCP deviation rectification method based on a cross laser sensor according to the present invention;
FIG. 3 is a schematic view of one of the initial poses of the present invention entering a crossed laser sensor and following a planned circular trajectory;
FIG. 4 shows the coordinates of the center point of the end flange calculated in step S2
Figure DEST_PATH_IMAGE057
Schematic diagram of the state of (1);
FIG. 5 shows the coordinates of the center point of the end flange calculated after one of the initial poses of the present invention moves down along the vector direction Z and moves along the planned circular trajectory
Figure 5222DEST_PATH_IMAGE029
A schematic diagram of (a);
FIG. 6 is a diagram of one of the initial poses of the present invention from point P to point
Figure 273392DEST_PATH_IMAGE057
A schematic process diagram of the movement;
FIG. 7 is a schematic diagram of five initial poses selected by the present invention as they move in a circular path in a crossed laser sensor;
FIG. 8 is a schematic view of the vector direction Z of the present invention;
fig. 9 is a schematic illustration of the positions of the robot, end tool, cross laser sensor, control cabinet and teach pendant of the present invention.
Detailed Description
The following examples are further illustrative and supplementary to the present invention and do not limit the present invention in any way.
Referring to fig. 1 and 9, an automatic TCP calibration method based on a cross laser sensor includes the following steps:
s1: moving the end tool 200 of the robot 100 above the cross laser sensor 300, randomly selecting five initial postures of the end tool 200 and manually teaching the five selected initial postures, planning tracks of the five selected initial postures, selecting one initial posture of the five initial postures, and controlling the end tool 200 to move along the planned track after entering the cross laser sensor 300 according to the selected initial posture;
s2: the laser on-off can occur in the process that the end tool 200 moves in the cross laser sensor 300, the cross laser sensor 300 records signal pulses at each laser on-off moment, the recorded signal pulses are communicated to the demonstrator 500 through the control cabinet 400, the demonstrator 500 records and marks point position coordinates of the center of the end flange 600 at each laser on-off moment according to the received signal pulses, and the point position coordinates of the center of the end flange 600 when the end tool 200 passes through a laser intersection point in the cross laser sensor 300 are calculated through the recorded point position coordinates at the laser on-off moment
Figure DEST_PATH_IMAGE058
；
S3: after the end tool 200 is controlled to move downwards for a preset distance, the end tool moves with the same initial posture and the same track as those in the step S2, the cross laser sensor 300 records signal pulses at each laser on-off moment, the recorded signal pulses are communicated to the demonstrator 500 through the control cabinet 400, the demonstrator 500 records and marks point location coordinates of the center of the end flange 600 at each laser on-off moment according to the received signal pulses, and the point location coordinates of the center of the end flange 600 when the end tool 200 of the robot passes through the laser intersection point in the cross laser sensor 300 are calculated through the recorded point location coordinates of the laser on-off moment
Figure 734461DEST_PATH_IMAGE029
From the center point of the flange 600 at the end of the robot 100
Figure DEST_PATH_IMAGE059
Move to
Figure 351256DEST_PATH_IMAGE029
The direction of (a) is set as a vector direction Z;
s4: at vectorCalculated to get away in the direction of magnitude Z
Figure DEST_PATH_IMAGE060
The coordinate of the point P is returned to the teach pendant 500, the teach pendant 500 controls the end flange 600 to move to the point P in the selected initial posture, and from the point P, the end flange moves to the point P at a uniform speed along the vector direction Z
Figure 530564DEST_PATH_IMAGE059
The cross laser sensor 300 records a signal pulse at the moment when the tip of the end tool 200 causes the laser to be blocked and disconnected during the movement of the end flange 600, and communicates the recorded signal pulse to the teach pendant 500 through the control cabinet 400, and the teach pendant 500 records and marks a point position coordinate of the center of the end flange 600 at the moment when the laser is disconnected according to the received signal pulse at the moment
Figure DEST_PATH_IMAGE018
And recording the attitude of the center of the end flange 600 at the moment of laser interruption
Figure DEST_PATH_IMAGE061
；
S5: controlling the robot 100 to return to the initial posture before entering the cross laser sensor 300, respectively switching the remaining four initial postures to enter the cross laser sensor 300 to move along the planned track, and repeating the operations of the steps S2-S4 for each initial posture to respectively obtain the point position coordinate of the center of the end flange 600 at the moment of laser disconnection
Figure DEST_PATH_IMAGE062
，
Figure DEST_PATH_IMAGE063
，
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，
Figure 996629DEST_PATH_IMAGE013
To the center of the end flangeAttitude at the moment of laser interruption
Figure 738320DEST_PATH_IMAGE014
，
Figure 998400DEST_PATH_IMAGE015
，
Figure 234472DEST_PATH_IMAGE024
，
Figure 263607DEST_PATH_IMAGE017
；
S6: the point position coordinates of the laser disconnection instant obtained in the steps S4 and S5
Figure 441779DEST_PATH_IMAGE018
、
Figure 923576DEST_PATH_IMAGE062
、
Figure 461874DEST_PATH_IMAGE063
、
Figure DEST_PATH_IMAGE064
And
Figure DEST_PATH_IMAGE065
attitude of center of end flange at moment of laser disconnection
Figure DEST_PATH_IMAGE066
、
Figure DEST_PATH_IMAGE067
、
Figure 237194DEST_PATH_IMAGE015
、
Figure 586267DEST_PATH_IMAGE024
And
Figure DEST_PATH_IMAGE068
calculating and obtaining the center point of the end tool 200 of the robot 100 by using a preferred algorithm
Figure DEST_PATH_IMAGE069
Coordinate point of intersection point with laser of cross laser sensor 300
Figure DEST_PATH_IMAGE070
。
The invention provides an automatic TCP calibration method based on a cross laser sensor, which uses the cross laser sensor 300 to replace manual teaching point alignment operation, realizes automatic point alignment calibration, reduces errors caused by manual operation and point alignment time of manual operation, improves the calibration precision, can perform quick TCP deviation correction operation on a tail end tool 200 of a robot 100 under the condition that the position of the robot 100 and the position of the cross laser sensor 300 are unchanged, reduces the downtime, recovers production line production with the minimum downtime, greatly reduces the calibration time and cost, and improves the TCP calibration precision.
Specifically, in step S1, five different initial poses of the end tool 200 of the robot 100 are first selected, and the five initial poses are manually taught respectively, so that the robot can move along a planned trajectory (the conventional teaching operation is TCP four-point calibration teaching, and the present invention only needs to teach the initial poses and how to move along a circular trajectory). One initial gesture is selected from the five initial gestures and moves in the cross laser sensor 300 according to the taught track, and specifically, the end tool 200 in the gesture is controlled to enter the cross laser sensor 300 (the plane of the cross laser sensor 300 is parallel to the XOY plane of the robot 100, and the XOY plane is horizontally arranged), and moves for one circle along the previously planned circular track.
S2, the end tool 200 passes through the cross laser four times in sequence in the moving process, the on-off of the laser occurs when the laser passes through each time, the cross laser sensor 300 records signal pulses at the moment of each laser on-off and communicates the signal pulses to the demonstrator 500, and the demonstrator 500 can mark the center of the end flange 600 through the received signal pulses every time when the laser passes through the center of the end flange 600The demonstrator 500 stores the point coordinates at the moment of switching on and off, and the point coordinates are used for calculating the point coordinates of the center of the end flange 600 when the end tool 200 of the robot 100 passes through the intersection point of the laser in the cross laser sensor 300
Figure 883256DEST_PATH_IMAGE059
。
Here, as shown in fig. 3, the end tool 200 performs a first circular trajectory movement in the cross laser sensor 300 in an initial posture under the control of the teach pendant 500, and at this time, the center point coordinate of the end flange 600 is a point P as shown in fig. 3 1 The position coordinates P of the center point of the end flange 600 at the same height (i.e., the position coordinates P of the center point of the end flange 600 making a circular track) can be calculated by the position coordinates of the four groups of laser on-off moments obtained in step S2 1 The height in the vertical direction is kept uniform) such that the center point of the end flange 600 when the end tool 200 passes through the center intersection of the cross laser sensor 300 in the initial posture (i.e., the laser intersection) is located at the coordinate of the center point
Figure 835031DEST_PATH_IMAGE057
I.e., the center point coordinates of the end flange 600 shown in fig. 4
Figure 464858DEST_PATH_IMAGE058
(the point location coordinate of the center of the end flange 600 when the end tool with the same initial posture passes through the intersection point of the laser in fig. 4 can be calculated by the point location coordinate at the moment of laser on-off recorded in fig. 3), as can be seen from fig. 4, the point location coordinate is solved at this time
Figure 109466DEST_PATH_IMAGE059
The center point coordinates of the end flange 600 after the end tool 200 passes through the intersection point of the centers of the intersecting laser sensors 300.
Step S3, controlling the terminal tool 200 to vertically move downwards for a preset distance, and moving for one circle at the same initial posture and the same track as those in the step S2 to obtain point location coordinates of the centers of the eight corresponding terminal flanges 600 at each laser on-off instant, and aligning the point location coordinates with the point location coordinates by the demonstrator 500The point location of the laser instant on-off coordinate is stored and used for calculating the central point location coordinate of the tail end flange 600 of the robot 100
Figure 441221DEST_PATH_IMAGE029
。
It should be noted that, after the end tool 200 in step S2 moves downward for a certain distance, it makes the same circular track motion in the initial posture, and by recording the point coordinates of the four sets of corresponding laser on-off instants, it is possible to calculate the center point coordinates of the end flange 600 when the end tool 200 passes through the center intersection point (i.e., the laser intersection point) of the cross laser sensor 300 in the initial posture at the same height (which is the height at which the end tool is located after dropping a preset distance) and at the same height
Figure 196688DEST_PATH_IMAGE029
(Here, the coordinates of the center point of the end flange 600 are calculated in step S2
Figure 913977DEST_PATH_IMAGE059
The principle and the method are consistent and redundant description is omitted).
Step S4, as shown in fig. 6, the point coordinates of the centers of the two end flanges 600 of the robot 100 can be calculated and obtained by recording the stored point coordinates at the moment of laser on-off
Figure 729486DEST_PATH_IMAGE060
And
Figure 548538DEST_PATH_IMAGE029
in combination with a vector direction Z (the vector direction Z being
Figure 107695DEST_PATH_IMAGE059
And
Figure 434816DEST_PATH_IMAGE029
in the direction of the interconnection, i.e.
Figure 155647DEST_PATH_IMAGE028
Towards
Figure 461995DEST_PATH_IMAGE029
Direction of movement, as shown in fig. 5) of the unit vector
Figure DEST_PATH_IMAGE071
Can be at a point
Figure 824843DEST_PATH_IMAGE057
Find a point P above (point P needs to be satisfied at point P)
Figure 782304DEST_PATH_IMAGE059
A certain distance above and capable of ensuring that the tip point of the end tool 200 is also above the cross laser sensor 300, i.e., at point P, the entire end tool 200 is above the cross laser sensor 300), the end flange 600 of the robot 100 is controlled to move to point P in a selected initial posture, and the end flange 600 moves to point P along the vector direction Z from point P
Figure 674036DEST_PATH_IMAGE057
Recording the signal pulse at the moment when the laser is blocked and disconnected during the movement of the end tool 200, communicating the signal pulse to the demonstrator 500, and recording the point location coordinate at the moment when the laser is disconnected as
Figure 467680DEST_PATH_IMAGE018
Meanwhile, the demonstrator can also record the posture of the center of the end flange at the moment of laser disconnection
Figure DEST_PATH_IMAGE072
。
Figure 525897DEST_PATH_IMAGE018
Is the coordinate of the location of the center point of the end flange 600 when the point of the end tool 200 coincides with the intersection point of the centers of the intersecting laser sensors 300,
Figure 947651DEST_PATH_IMAGE072
when the sharp point of the end tool 200 coincides with the center intersection point of the cross laser sensor 300In the attitude of the center of the end flange 600, when the tip of the end tool 200 contacts the center intersection of the laser intersection sensor, the tip of the end tool 200 blocks the irradiation of both sets of lasers at the same time.
In the prior art, a cross laser sensor is adopted to perform self calibration on a terminal tool, and a dichotomy approach point alignment method as in patent document CN114012784A is often adopted, the method needs to move the terminal tool for multiple times to approach the cross laser sensor, the terminal tool needs to be moved for multiple times during calibration, and meanwhile, a large number of on-off times of cross laser sensor signals can occur, so that the storage amount of point coordinates of a demonstrator is greatly increased, the coordinate storage space of the demonstrator is wasted, and meanwhile, a large amount of point alignment time is needed because the terminal tool needs to be moved for multiple times to approach a central intersection point of the cross laser sensor, so that the point alignment efficiency is not high, and the calibration efficiency is reduced. The invention only needs to calculate
Figure 151230DEST_PATH_IMAGE059
And
Figure 291225DEST_PATH_IMAGE029
unit vector on a line
Figure DEST_PATH_IMAGE073
And a far point P far from the intersection point of the laser centers is selected on the unit vector, and then the end flange 600 is moved from the point P to the point
Figure 386088DEST_PATH_IMAGE028
The point alignment operation can be completed, and compared with the point alignment method of the traditional cross laser sensor 300, the method has the advantages of higher point alignment efficiency and higher calibration efficiency.
Step S5, as shown in fig. 7, controlling the robot 100 to return to the initial posture before entering the cross laser sensor 300, sequentially switching to the remaining four initial postures, and repeating the steps S2 to S4 every time switching to a new initial posture, so as to obtain the point location coordinate of the center of the end flange 600 at the moment of laser disconnection
Figure 803294DEST_PATH_IMAGE062
，
Figure 302409DEST_PATH_IMAGE063
，
Figure 555798DEST_PATH_IMAGE064
，
Figure 798560DEST_PATH_IMAGE065
And the attitude of the center of the end flange 600 at the moment of laser disconnection
Figure 70273DEST_PATH_IMAGE014
，
Figure 740289DEST_PATH_IMAGE015
，
Figure 979509DEST_PATH_IMAGE024
，
Figure 760383DEST_PATH_IMAGE017
。
Step S6, combining the point coordinates of the centers of the five end flanges 600 obtained in steps S4 to S5 at the moment of laser disconnection and the postures of the centers of the five end flanges 600 at the moment of laser disconnection, and calculating the end tool center point of the end tool 200 of the robot 100 by using a preferred algorithm
Figure DEST_PATH_IMAGE074
（
Figure 683340DEST_PATH_IMAGE074
Is a coordinate position relative to the center of the end flange 600, is expressed in terms of the center of the end flange 600 as a base coordinate, representing the positional relationship between the center of the end flange 600 and the end tool 200) and the laser intersection point coordinate of the intersection laser sensor 300
Figure DEST_PATH_IMAGE075
（
Figure 681514DEST_PATH_IMAGE075
A position point of the cross laser sensor 300 with respect to the center coordinates of the robot 100, which is expressed by the center of the robot 100 as a base coordinate representing a positional relationship between the cross laser sensor 300 and the center of the robot 100), and moves the tip point of the tip tool 200 of the robot 100 to a coordinate point by controlling the teach pendant 500
Figure 158763DEST_PATH_IMAGE074
The automatic calibration can be completed, manual teaching is used only when the initial posture and the planning track are selected initially in the whole process, and compared with the manual point alignment teaching in the traditional four-point calibration or six-point calibration, the automatic calibration method is free of manual point alignment calibration, greatly reduces human errors, and can greatly improve the calibration precision of the tail end tool 200 of the robot 100.
Further, the track in step S2 is a circular track, the movement along the planned track is a circle along the circular track, four groups of point location coordinates at the moment of laser on-off occur during the process that the end tool 200 moves a circle along the circular track, point location coordinates at the moment of laser on-off are obtained, and the point location coordinates at the center of the end flange when the end tool 200 of the robot 100 passes through the laser intersection point in the cross laser sensor 300 are obtained by calculating the obtained point location coordinates at the moment of laser on-off
Figure 743328DEST_PATH_IMAGE060
；
To be further described, in the step S3, four groups of point location coordinates at the instant of laser on-off may appear in the process that the end tool 200 moves for one circle along the circular track, and point location coordinates at the instant of laser on-off may be obtained, and the point location coordinates of the center of the end flange when the end tool 200 of the robot 100 passes through the intersection point of the lasers in the cross laser sensor 300 may be obtained through calculation of the obtained point location coordinates at the instant of laser on-off
Figure 238900DEST_PATH_IMAGE029
。
As shown in fig. 3-4, the coordinates of the center point of the end flange 600 of the robot 100 at two different positions
Figure 453981DEST_PATH_IMAGE059
And
Figure 903679DEST_PATH_IMAGE029
the solution is that the end tool 200 is inserted into the cross laser sensor 300 and moves for one circle along the circular track to respectively obtain the point location coordinates of the center of the end flange 600 at the moment when four groups of lasers are turned on and off (the first circle of track obtains the point locations of the coordinates of four groups of laser on and off signals, namely the point location coordinates of the center of the end flange 600 at the moment when eight lasers are turned on and off, and the same second circle of track after moving downwards can also obtain the point location coordinates of the center of the end flange 600 at the moment when four groups of lasers are turned on and off, namely the point location coordinates of the center of the end flange 600 at the moment when eight lasers are turned on and off), and the sixteen coordinate points can be used for respectively calculating the point location coordinates
Figure 291935DEST_PATH_IMAGE060
And
Figure 392746DEST_PATH_IMAGE029
the specific point location coordinates are specifically calculated as follows:
and calculating the obtained point position coordinates at the sixteen laser on-off moments to obtain eight groups of intermediate point position coordinates at the laser on-off moments (each circle of track has four groups of intermediate coordinates):
Figure DEST_PATH_IMAGE076
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE077
x, y axis coordinates representing the center of the end flange 600 of the robot 100 recorded by the end tool 200 of the robot 100 at each laser turn-on and turn-off.
Figure DEST_PATH_IMAGE078
To is that
Figure DEST_PATH_IMAGE079
The coordinates of the middle point positions of the four groups of laser on-off moments of the first circle of track on the x axis,
Figure DEST_PATH_IMAGE080
to
Figure DEST_PATH_IMAGE081
The coordinates of the middle point positions of the four groups of laser on-off moments of the first circle of track on the y axis,
Figure DEST_PATH_IMAGE082
to is that
Figure DEST_PATH_IMAGE083
The coordinates of the middle point position of the four groups of laser on-off moments of the second circle of track on the x axis,
Figure DEST_PATH_IMAGE084
to
Figure DEST_PATH_IMAGE085
And the coordinates of the middle point positions of the four groups of laser on-off moments of the first circle of track on the y axis.
From the coordinates of the eight intermediate points obtained above, the coordinates of the intersection of the laser light and the position vector of the end tool 200 of the robot 100 at the intersection coordinates can be obtained.
Four intermediate points are obtained for each circular track, and two intersecting straight lines are calculated through the four intermediate points
Figure DEST_PATH_IMAGE086
，
Figure DEST_PATH_IMAGE087
(taking the first circle of circular track as an example here), the intersection point of the straight line is the intersection point of two groups of lasers crossing the laser sensor 300, and the calculation flow of the straight line equation is as follows:
Figure DEST_PATH_IMAGE088
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE089
and
Figure DEST_PATH_IMAGE090
the coefficients of x in the two straight lines are respectively,
Figure DEST_PATH_IMAGE091
and
Figure DEST_PATH_IMAGE092
are respectively in two straight lines
Figure DEST_PATH_IMAGE093
The coefficient of (a) is determined,
Figure DEST_PATH_IMAGE094
and
Figure DEST_PATH_IMAGE095
are constants in the two straight lines respectively,
Figure DEST_PATH_IMAGE096
is composed of
Figure DEST_PATH_IMAGE097
、
Figure 93242DEST_PATH_IMAGE090
、
Figure 669717DEST_PATH_IMAGE091
And
Figure 471451DEST_PATH_IMAGE092
the relation therebetween.
The coordinates of the center point of the end flange 600 of the robot 100 which moves along the planned circular track for the first time can be calculated by the two straight lines
Figure 551403DEST_PATH_IMAGE028
：
Figure DEST_PATH_IMAGE098
Similarly, the coordinates of the center point of the end flange 600 of the robot 100 moving along the planned circular trajectory for the second time after moving downward for a certain distance can be calculated
Figure 826395DEST_PATH_IMAGE029
：
Figure 499953DEST_PATH_IMAGE029
The specific calculation process of (2) is as follows:
four intermediate points can be obtained in the second circular track, and two intersecting straight lines are calculated through the four intermediate points
Figure DEST_PATH_IMAGE099
，
Figure DEST_PATH_IMAGE100
(taking the second circle of circular track as an example here), the intersection point of the straight lines is the intersection point of two groups of lasers of the cross laser sensor 300, and the calculation flow of the straight line equation is as follows:
Figure DEST_PATH_IMAGE101
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE102
and
Figure DEST_PATH_IMAGE103
the coefficients of x in the two straight lines are respectively,
Figure DEST_PATH_IMAGE104
and
Figure DEST_PATH_IMAGE105
are respectively in two straight lines
Figure 461304DEST_PATH_IMAGE093
The coefficient of (a) is determined,
Figure DEST_PATH_IMAGE106
and
Figure DEST_PATH_IMAGE107
are constants in the two straight lines respectively,
Figure DEST_PATH_IMAGE108
is composed of
Figure DEST_PATH_IMAGE109
、
Figure 756282DEST_PATH_IMAGE103
、
Figure 546383DEST_PATH_IMAGE104
And
Figure 956505DEST_PATH_IMAGE105
the relation between them.
The coordinates of the center point of the end flange 600 of the robot 100 which moves along the planned circular track for the first time can be calculated by the two straight lines
Figure 224675DEST_PATH_IMAGE029
：
Figure DEST_PATH_IMAGE110
To be more specific, the coordinates of the center points of the two end flanges 600 of the robot 100 are used in step S4
Figure 420164DEST_PATH_IMAGE059
、
Figure 272845DEST_PATH_IMAGE029
Unit vector of sum vector direction Z
Figure 780049DEST_PATH_IMAGE071
Can calculate the distance
Figure 727277DEST_PATH_IMAGE057
The coordinate point P of (a).
In calculating
Figure 636327DEST_PATH_IMAGE060
And
Figure 627286DEST_PATH_IMAGE029
after the specific point location coordinates are combined with the unit vector
Figure 887366DEST_PATH_IMAGE071
Can calculate the distance
Figure 372705DEST_PATH_IMAGE059
Is in the following relation:
Figure DEST_PATH_IMAGE111
stated further, the preferred algorithm is a five-point preferred algorithm.
The optimization algorithm of the invention is to perform binomial grouping on the point location coordinates of five laser disconnection moments on the basis of automatically teaching the point location coordinates of five laser disconnection moments
Figure DEST_PATH_IMAGE112
Dividing into five calibration groups, calculating the error of point coefficient for each group
Figure DEST_PATH_IMAGE113
Selecting out
Figure DEST_PATH_IMAGE114
Removing a point position coordinate at the moment of laser disconnection with large deviation from the minimum group of four points, and carrying out final TCP calibration; therefore, the precision and the stability of TCP calibration are improved.
Firstly, grouping is carried out according to the point position coordinates of five laser disconnection moments collected and recorded in the steps S4 and S5, and the point position coordinates are grouped according to a binomial expression
Figure 27939DEST_PATH_IMAGE112
The point location coordinates at the moment of five laser disconnection are divided into five groups, and each group needs to solve a maximum point location error coefficient
Figure 189799DEST_PATH_IMAGE114
。
Coefficient of point to point error
Figure 937175DEST_PATH_IMAGE113
The solution method of (2) is to carry out binomial again on the combination of every four point positions in one group
Figure DEST_PATH_IMAGE115
Grouping into four subgroups, and calculating to obtain four point values
Figure DEST_PATH_IMAGE116
，
Figure DEST_PATH_IMAGE117
，
Figure DEST_PATH_IMAGE118
And
Figure DEST_PATH_IMAGE119
：
Figure DEST_PATH_IMAGE120
Figure DEST_PATH_IMAGE121
、
Figure DEST_PATH_IMAGE122
、
Figure 835992DEST_PATH_IMAGE015
and
Figure DEST_PATH_IMAGE123
respectively shows the coordinates of the central point of the end flange at the point position
Figure 126159DEST_PATH_IMAGE018
、
Figure 225965DEST_PATH_IMAGE062
、
Figure 195058DEST_PATH_IMAGE063
And
Figure 22199DEST_PATH_IMAGE064
the attitude of the center of the end flange 600 with respect to the base coordinates of the robot 100, and the point coordinates at the moment when the laser of the center of the end flange is cut off are marked by the demonstrator
Figure 25927DEST_PATH_IMAGE018
、
Figure 529590DEST_PATH_IMAGE062
、
Figure 985979DEST_PATH_IMAGE063
、
Figure 351233DEST_PATH_IMAGE064
And
Figure 209467DEST_PATH_IMAGE065
the demonstrator can simultaneously obtain the corresponding postures
Figure 651075DEST_PATH_IMAGE121
、
Figure DEST_PATH_IMAGE124
、
Figure 1285DEST_PATH_IMAGE015
、
Figure 294863DEST_PATH_IMAGE123
And
Figure 132238DEST_PATH_IMAGE125
。
wherein
Figure DEST_PATH_IMAGE126
，
Figure DEST_PATH_IMAGE127
，
Figure 56332DEST_PATH_IMAGE128
And
Figure DEST_PATH_IMAGE129
is represented by
Figure 644570DEST_PATH_IMAGE116
，
Figure 476260DEST_PATH_IMAGE117
，
Figure 184453DEST_PATH_IMAGE130
And
Figure 76185DEST_PATH_IMAGE119
is determined by the generalized inverse matrix of (a),
Figure 119097DEST_PATH_IMAGE126
，
Figure 895423DEST_PATH_IMAGE127
，
Figure 582756DEST_PATH_IMAGE128
and
Figure 645390DEST_PATH_IMAGE129
each representing the content of the above formula in parentheses.
According to the obtained four point values, solving norm (two norms) values of every two point pairs in sequence:
Figure DEST_PATH_IMAGE131
6 point-to-point error coefficients can be obtained
Figure 930923DEST_PATH_IMAGE113
And taking the maximum one of the point-to-point error coefficients as the final value of the point-to-point error coefficients of each group of four points.
In conclusion, five sets of corresponding five point-to-point error coefficient final values can be obtained, an error coefficient threshold value is set, if the point-to-point error coefficient final values are all smaller than the error coefficient threshold value, five points are selected together to carry out TCP calibration (the calibration mode is the same as that of the optimal calibration set, at this time, all the point positions of the five sets need to be subjected to equation set construction, and the corresponding generalized inverse matrix is correspondingly expanded); if only part of the final values of the point error coefficients are smaller than the error coefficient threshold value, selecting the group with the minimum final value of the point error coefficients as an optimal calibration group; and if the minimum final value of the point aligning error coefficient is larger than or equal to the error coefficient threshold value, the point aligning operation is carried out again.
Assuming that the selected optimal calibration set has the point location of
Figure 510940DEST_PATH_IMAGE018
，
Figure 52779DEST_PATH_IMAGE062
，
Figure 676528DEST_PATH_IMAGE063
And
Figure 303818DEST_PATH_IMAGE064
and constructing an equation set by selecting four optimal calibration points:
Figure 156368DEST_PATH_IMAGE132
in the formula (I), the compound is shown in the specification,
Figure DEST_PATH_IMAGE133
representing the attitude of the center of the end flange 600 with respect to the base coordinates of the robot 100,
Figure 975550DEST_PATH_IMAGE134
indicating the location of the center of the end flange 600 relative to the base coordinates of the robot 100; can be obtained by transformation
Figure 645566DEST_PATH_IMAGE075
：
Figure 635519DEST_PATH_IMAGE135
Wherein
Figure 416393DEST_PATH_IMAGE136
Represent
Figure 57459DEST_PATH_IMAGE137
Is determined by the generalized inverse matrix of (a),
Figure 898376DEST_PATH_IMAGE138
the content of the above formula in parentheses is represented,
Figure 110045DEST_PATH_IMAGE055
is the laser intersection point coordinate.
Solve out
Figure 694610DEST_PATH_IMAGE075
Then, the TCP coordinates of the end-of-line tool 200 are calibrated according to the above formula
Figure 691647DEST_PATH_IMAGE074
：
Figure 703466DEST_PATH_IMAGE139
Recording according to the calibrated result
Figure 402432DEST_PATH_IMAGE074
And
Figure 790688DEST_PATH_IMAGE137
，
Figure 140766DEST_PATH_IMAGE074
is the coordinate position of the end tool 200 of the robot 100,
Figure 323486DEST_PATH_IMAGE055
is the laser intersection position of the cross laser sensor 300.
As shown in fig. 2, an automatic TCP deviation rectification method based on cross laser sensor includes the following steps:
a1: after the collision of the end tool 200 occurs, manually teaching the end tool 200, so that the end tool 200 with the offset central point is initially perpendicular to the XOY plane of the robot 100 (the laser cross sensor is parallel to the XOY plane of the robot 100, and the angle of the end tool 200 is adjusted through manual teaching so as to be initially perpendicular to the XOY plane of the robot 100 or the cross laser sensor 300, which is the initial perpendicular because the mutual perpendicular of the end tool 200 and the XOY plane of the robot 100 is judged by eyes in the manual teaching process, so that a certain error exists, and the true perpendicular state can be realized only by teaching to an approximately perpendicular degree and subsequent correction of the posture of the end tool 200), defining the posture of the manually taught end tool 200 as a fixed posture, and moving the end tool 200 to the position above the cross laser sensor 300 in the fixed posture;
a2: controlling the end tool 200 after the deviation to enter the cross laser sensor 300 at the fixed posture in the step A1 for posture deviation rectifying operation;
a3: and C, controlling the tail end tool 200 subjected to posture correction in the step A2 to enter the cross laser sensor 300 again for position correction, and finishing the correction operation of the tail end tool 200.
After the end tool 200 of the robot 100 performs a task for a period of time, the end tool 200 may be worn or deformed by impact, so that the tool center point may be shifted, and in order to save efficiency, the center point of the end tool 200 of the new robot 100 may be calibrated again by the fast correction method of the present invention. Thereby achieving the purposes of reducing the production line downtime and improving the production line efficiency.
Specifically, the deviation rectifying method of the present invention mainly includes two steps, firstly, on the basis of the fixed posture being adjusted (the process is adjusted by manual teaching and has a certain deviation), the end tool 200 enters the cross laser sensor 300 to perform posture rectifying operation, the initial fixed posture is replaced by the rectified posture (that is, the angle of the end tool 200 of the robot 100 is adjusted to be perpendicular to the cross laser sensor 300 to eliminate the deviation existing in manual teaching), and then the rectified posture enters the cross laser sensor 300 to perform position rectifying processing, so as to find the required deviation rectifying calibration point position.
To be further explained, the step A2 further includes the following steps:
a21, after the end tool 200 enters the cross laser sensor 300 in a fixed posture, the end tool moves for one circle along a planned circular track (the circular track is consistent with the circular track mentioned in calibration and moves along the planned circular track through manual teaching in advance), the cross laser sensor 300 records signal pulses at each laser on-off moment, the recorded signal pulses are communicated to the demonstrator 500 through the control cabinet 400, the demonstrator 500 records and marks point position coordinates of the center of the end flange 600 at each laser on-off moment according to the received signal pulses, and the point position coordinates of the center of the end flange 600 when the end tool 200 passes through a laser intersection point in the cross laser sensor 300 are calculated through the recorded point position coordinates at the laser on-off moment
Figure 775327DEST_PATH_IMAGE140
；
And A22, after the end tool 200 is controlled to move downwards in a fixed posture for a preset distance, repeating the operation in the step A21, and calculating the coordinate of the central point of the end flange 600 when the end tool 200 of the robot 100 passes through the intersection point of the lasers in the cross laser sensor 300 according to the recorded point coordinates of the laser on-off moment
Figure 701695DEST_PATH_IMAGE141
Is set by
Figure 407745DEST_PATH_IMAGE140
Move to
Figure 26945DEST_PATH_IMAGE142
Is a vector direction
Figure 700503DEST_PATH_IMAGE039
；
A23: according to the coordinates of the center point of the end flange 600
Figure 164982DEST_PATH_IMAGE140
、
Figure 489653DEST_PATH_IMAGE142
And direction of vector
Figure 279755DEST_PATH_IMAGE039
Unit vector of (2)
Figure 175030DEST_PATH_IMAGE143
The deviation angle of the end tool 200 of the robot 100 can be calculated
Figure 443200DEST_PATH_IMAGE043
And
Figure 497744DEST_PATH_IMAGE044
thereby finishing the posture rectification operation.
The above-mentioned procedures of steps A21-A22 are similar to those of steps S2-S3, and are not described in detail here, and step A23 is implemented byObtained by
Figure 819266DEST_PATH_IMAGE140
、
Figure 592050DEST_PATH_IMAGE141
And direction of vector
Figure 539277DEST_PATH_IMAGE039
Unit vector of
Figure 448327DEST_PATH_IMAGE144
The deviation angle of the end tool 200 of the robot 100 can be calculated
Figure 704865DEST_PATH_IMAGE043
And
Figure 699366DEST_PATH_IMAGE044
the calculation is as follows:
Figure 450284DEST_PATH_IMAGE145
in the formula (I), the compound is shown in the specification,
Figure 479420DEST_PATH_IMAGE146
representing unit vectors
Figure 142745DEST_PATH_IMAGE042
The vector in the direction of the X-axis,
Figure 890121DEST_PATH_IMAGE147
representing a unit vector
Figure 179151DEST_PATH_IMAGE143
The vector in the direction of the Y-axis,
Figure 62793DEST_PATH_IMAGE148
representing unit vectors
Figure 395555DEST_PATH_IMAGE042
Vector in the Z-axis direction.
To be further described, the step A3 further includes the following steps:
a31: controlling the tail end tool 200 of the robot 100 to enter the cross laser sensor 300 again in the corrected posture, repeating the operation method of the steps A21-A22, and respectively calculating the central point position coordinates of the tail end flanges 600 of the two robots 100 by recording the point position coordinates at the moment of laser on-off
Figure 364648DEST_PATH_IMAGE047
And
Figure 457369DEST_PATH_IMAGE048
is set by
Figure 929938DEST_PATH_IMAGE047
Move to
Figure 466224DEST_PATH_IMAGE046
Is a vector direction
Figure 922613DEST_PATH_IMAGE049
；
A32: in the vector direction
Figure 553446DEST_PATH_IMAGE049
Get away from by upper calculation
Figure 411680DEST_PATH_IMAGE050
Coordinate point of (2)
Figure 351823DEST_PATH_IMAGE051
To be pointed out
Figure 29929DEST_PATH_IMAGE051
Returns to the teach pendant 500, and the teach pendant 500 controls the end flange 600 to move to a point
Figure 464453DEST_PATH_IMAGE051
And controls the end flange 600 to take the corrected attitude from the point
Figure 911615DEST_PATH_IMAGE051
Starting along the vector direction
Figure 524124DEST_PATH_IMAGE049
Move to point at uniform speed
Figure 955105DEST_PATH_IMAGE047
The cross laser sensor 300 records a signal pulse at the moment when the tip of the end tool 200 causes the laser to be blocked and disconnected during the movement of the end flange 600, and communicates the recorded signal pulse to the teach pendant 500 through the control cabinet 400, and the teach pendant 500 records and marks a point position coordinate of the center of the end flange 600 at the moment when the laser is disconnected according to the received signal pulse at the moment
Figure 927741DEST_PATH_IMAGE052
And recording the attitude of the center of the end flange at the moment of laser interruption
Figure 494988DEST_PATH_IMAGE053
；
A33: according to the point location coordinate at the moment of laser disconnection
Figure 776934DEST_PATH_IMAGE052
Coordinate point of intersection point of laser light with intersecting laser sensor 300
Figure 429632DEST_PATH_IMAGE055
The center point of the end tool 200 of the robot 100 is calculated
Figure 205958DEST_PATH_IMAGE149
And finishing the position deviation rectifying operation.
Since the position of the cross laser sensor 300 is not changed, the coordinates of the laser intersection point can be followed by the points calculated during calibration
Figure 893291DEST_PATH_IMAGE075
Thus through steps A31-A32The point location coordinate at the moment of laser disconnection
Figure 955925DEST_PATH_IMAGE052
(i.e., the coordinates of the point of the center of the end flange just as it blocked the laser) and the attitude at the moment of laser interruption
Figure 733737DEST_PATH_IMAGE053
And combining the laser intersection point coordinates calculated during the prior calibration
Figure 172809DEST_PATH_IMAGE055
The calibrated point of the tail end tool 200 after deviation correction can be obtained
Figure 590015DEST_PATH_IMAGE149
And then the teaching device 500 moves the tip of the end tool 200 to the calibration point to complete the deviation correction operation.
Specifically, the calculation formula is as follows:
Figure 89129DEST_PATH_IMAGE150
inv means that the operation result before the instruction is inverted,
Figure 841053DEST_PATH_IMAGE151
indicating that the central point of the end flange is positioned at the point coordinate
Figure 83816DEST_PATH_IMAGE052
The attitude of the center of the end flange 600 with respect to the base coordinates of the robot 100.
Although the present invention has been described in connection with the above embodiments, the scope of the present invention is not limited thereto, and modifications, substitutions and the like of the above members are intended to fall within the scope of the claims of the present invention without departing from the spirit of the present invention.

Claims (6)

1. An automatic TCP calibration method based on a cross laser sensor is characterized by comprising the following steps:
s1: moving a tail end tool of the robot to the position above the cross laser sensor, randomly selecting five initial postures of the tail end tool, manually teaching the five selected initial postures, planning tracks of the five selected initial postures, selecting one initial posture of the five initial postures, and controlling the tail end tool to move along the planned track after entering the cross laser sensor in the selected initial posture;
s2: the cross laser sensor records signal pulses at each moment of laser on-off, the recorded signal pulses are communicated to the demonstrator through the control cabinet, the demonstrator records and marks point location coordinates of the center of the end flange at each moment of laser on-off according to the received signal pulses, and point location coordinates of the center of the end flange when the end tool of the robot passes through a laser intersection point in the cross laser sensor are calculated through the recorded point location coordinates at each moment of laser on-off
Figure 338820DEST_PATH_IMAGE001
；
S3: after the terminal tool is controlled to move downwards for a preset distance, the terminal tool moves with the same initial posture and the same track as those in the step S2, the cross laser sensor records signal pulses at each moment of laser on-off, the recorded signal pulses are communicated to the demonstrator through the control cabinet, the demonstrator records and marks point location coordinates of the center of the terminal flange at each moment of laser on-off according to the received signal pulses, and the point location coordinates of the center of the terminal flange when the terminal tool of the robot passes through a laser intersection point in the cross laser sensor are calculated through the recorded point location coordinates of the laser on-off moment
Figure 921111DEST_PATH_IMAGE002
From the central point of the end flange of the robot
Figure 315184DEST_PATH_IMAGE001
Move to
Figure 742754DEST_PATH_IMAGE002
Is set as vector direction Z;
s4: calculating the distance in the vector direction Z
Figure 273092DEST_PATH_IMAGE001
Returning the coordinate of the point P to the demonstrator, controlling the end flange to move to the point P in the selected initial posture by the demonstrator, and starting to move at a constant speed to the point P along the vector direction Z from the point P
Figure 26285DEST_PATH_IMAGE003
The cross laser sensor records the sharp point of the tail end tool in the movement process of the tail end flange, so that the laser is blocked to cut off the instantaneous signal pulse, the recorded signal pulse is communicated to the demonstrator through the control cabinet, and the demonstrator records and marks the point position coordinate of the center of the tail end flange at the moment of laser cutting off according to the received signal pulse
Figure 907653DEST_PATH_IMAGE004
And recording the attitude of the center of the end flange at the moment of laser interruption
Figure 404494DEST_PATH_IMAGE005
；
S5: controlling the robot to return to the initial posture before entering the cross laser sensor, respectively switching the remaining four initial postures to enter the cross laser sensor to move along the planned track, and repeating the steps S2-S4 for each initial posture to respectively obtain the point position coordinate of the center of the end flange at the moment of laser disconnection
Figure 57847DEST_PATH_IMAGE006
，
Figure 716362DEST_PATH_IMAGE007
，
Figure 85026DEST_PATH_IMAGE008
，
Figure 119978DEST_PATH_IMAGE009
Attitude of center of end flange at moment of laser disconnection
Figure 890488DEST_PATH_IMAGE010
，
Figure 719904DEST_PATH_IMAGE011
，
Figure 575865DEST_PATH_IMAGE012
，
Figure 414508DEST_PATH_IMAGE013
；
S6: the point position coordinates of the laser disconnection instant obtained in the steps S4 and S5
Figure 773945DEST_PATH_IMAGE004
、
Figure 39841DEST_PATH_IMAGE006
、
Figure 117518DEST_PATH_IMAGE007
、
Figure 494273DEST_PATH_IMAGE008
And
Figure 973796DEST_PATH_IMAGE009
instantaneous attitude of laser disconnection
Figure 410594DEST_PATH_IMAGE014
，
Figure 975567DEST_PATH_IMAGE015
，
Figure 156013DEST_PATH_IMAGE016
，
Figure 487112DEST_PATH_IMAGE017
And
Figure 94811DEST_PATH_IMAGE018
calculating and obtaining the central point of the end tool of the robot by adopting an optimal algorithm
Figure 147081DEST_PATH_IMAGE019
Coordinate point of intersection point of laser and cross laser sensor
Figure 865638DEST_PATH_IMAGE020
。
2. The automatic TCP calibration method based on the cross laser sensor as claimed in claim 1, wherein: s2, the track is a circular track, the movement along the planned track is a circle along the circular track, four groups of point location coordinates at the moment of switching on and off the lasers appear in the process that the tail end tool moves along the circular track for a circle, point location coordinates at the moment of switching on and off the lasers are obtained, and the center point location coordinates of the tail end flange when the tail end tool of the robot passes through the intersection point of the lasers in the cross laser sensor are obtained through calculation of the obtained point location coordinates at the moment of switching on and off the lasers
Figure 319753DEST_PATH_IMAGE021
。
3. The automatic TCP calibration method based on the cross laser sensor as claimed in claim 2, characterized in that: in the step S3, four groups of instantaneous point location coordinates of laser on-off can appear in the process that the tail end tool moves for one circle along the circular track, and eight instantaneous point location coordinates of laser on-off can be obtainedMarking, and calculating the coordinate of the center point of the end flange when the end tool of the robot passes through the intersection point of the lasers in the cross laser sensor according to the obtained point coordinates at the moment of switching on and off the eight lasers
Figure 832774DEST_PATH_IMAGE002
。
4. The automatic TCP calibration method based on the cross laser sensor as claimed in claim 1, characterized in that: in the step S4, the coordinates of the central point of the end flange are utilized
Figure 637919DEST_PATH_IMAGE022
、
Figure 894588DEST_PATH_IMAGE002
Unit vector of sum vector direction Z
Figure 203210DEST_PATH_IMAGE023
Can calculate the distance
Figure 152711DEST_PATH_IMAGE024
The coordinate point P of (a).
5. The automatic TCP calibration method based on the cross laser sensor as claimed in claim 1, wherein: the preferred algorithm is a five-point preferred algorithm.
6. An automatic TCP deviation rectifying method based on a cross laser sensor is characterized by comprising the following steps:
a1: after the collision of the tail end tool occurs, manually teaching the tail end tool, enabling the tail end tool with the offset central point to be initially vertical to an XOY plane of the robot, defining the posture of the tail end tool after manual teaching as a fixed posture, and moving the tail end tool to the position above the cross laser sensor in the fixed posture;
a2: controlling the offset tail end tool to enter the cross laser sensor for posture correction operation at the fixed posture in the step A1;
a3: controlling the tail end tool subjected to posture correction in the step A2 to enter the cross laser sensor again for position correction processing, and finishing the correction operation of the tail end tool;
wherein, step A2 includes the following steps:
a21, after the end tool enters the cross laser sensor in a fixed posture, the cross laser sensor moves for one circle along a planned circular track, the cross laser sensor records signal pulses at each laser on-off moment, the recorded signal pulses are communicated to the demonstrator through the control cabinet, the demonstrator records and marks point position coordinates of the center of the end flange at each laser on-off moment according to the received signal pulses, and the point position coordinates of the center of the end flange when the end tool of the robot passes through a laser intersection point in the cross laser sensor are calculated through the recorded point position coordinates of the laser on-off moment
Figure 913994DEST_PATH_IMAGE025
；
A22, after the tail end tool is controlled to move downwards for a preset distance in a fixed posture, the operation of the step A21 is repeated, and the point location coordinate of the center point of the tail end flange when the tail end tool of the robot passes through the intersection point of the lasers in the cross laser sensor is calculated according to the recorded point location coordinate at the moment when the lasers are switched on and off
Figure 239933DEST_PATH_IMAGE026
Is set by
Figure 403061DEST_PATH_IMAGE025
Move to
Figure 523464DEST_PATH_IMAGE026
Is a vector direction
Figure 37622DEST_PATH_IMAGE027
；
A23: according to the position of the end flange
Figure 892884DEST_PATH_IMAGE025
、
Figure 910518DEST_PATH_IMAGE026
And the vector direction
Figure 467401DEST_PATH_IMAGE027
Unit vector of
Figure 203276DEST_PATH_IMAGE028
Capable of calculating deviation angle of end tool of robot
Figure 871018DEST_PATH_IMAGE029
And
Figure 743159DEST_PATH_IMAGE030
thereby finishing the posture correction operation;
wherein, step A3 includes the following steps:
a31: controlling the tail end tool of the robot to enter the cross laser sensor again in the corrected posture, repeating the operation method of the steps A21-A22, and respectively calculating the coordinates of the center point of the two tail end flanges by recording the point coordinates at the moment of laser on-off
Figure 470944DEST_PATH_IMAGE031
And
Figure 694115DEST_PATH_IMAGE032
is set by
Figure 634389DEST_PATH_IMAGE033
Move to
Figure 626615DEST_PATH_IMAGE034
Is a vector direction
Figure 790881DEST_PATH_IMAGE035
；
A32: in the vector direction Z ， Get far away from upper calculation
Figure 970189DEST_PATH_IMAGE036
Coordinate point of (2)
Figure 979733DEST_PATH_IMAGE037
To be pointed out
Figure 92046DEST_PATH_IMAGE037
The coordinate position of the terminal flange is returned to the demonstrator, and the demonstrator controls the terminal flange to move to a point
Figure 896054DEST_PATH_IMAGE037
And controlling the tail end flange to move from the point with the corrected posture
Figure 93817DEST_PATH_IMAGE037
Starting along the vector direction
Figure 638543DEST_PATH_IMAGE035
Move to point at uniform speed
Figure 605362DEST_PATH_IMAGE033
The cross laser sensor records the sharp point of the tail end tool in the movement process of the tail end flange, so that the laser is blocked to disconnect the instantaneous signal pulse, the recorded signal pulse is communicated to the demonstrator through the control cabinet, and the demonstrator records and marks the point position coordinate of the center of the tail end flange at the moment of laser disconnection according to the received signal pulse
Figure 580272DEST_PATH_IMAGE038
And recording the attitude of the center of the end flange at the moment of laser interruption
Figure 265331DEST_PATH_IMAGE039
；
A33: according to the point location coordinate at the moment of laser disconnection
Figure 616678DEST_PATH_IMAGE038
Coordinate point of laser intersection point with cross laser sensor
Figure 172424DEST_PATH_IMAGE020
Calculating to obtain the central point of the end tool of the robot
Figure 583814DEST_PATH_IMAGE040
And finishing the position deviation rectifying operation.
CN202210962682.9A 2022-08-11 2022-08-11 Automatic TCP calibration and deviation correction method based on cross laser sensor Active CN115026843B (en)

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DE10230772A1 (en) * 2002-01-15 2003-07-31 Thomas Pagel Measuring device and method for measuring a working point of tools for industrial robots
WO2014042668A2 (en) * 2012-06-11 2014-03-20 Trompeter Matthew E Automatic and manual robot work finder calibration systems and methods
CN106595485A (en) * 2017-01-17 2017-04-26 北京航空航天大学 CoKriging-based absolute positioning error estimation method of mechanical arm
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